// --------------------------------------------------------------------------------------------------------------------
// <copyright file="KinectPoseUpdater.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Navigation.Runtime.Perception
{
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Kinect pose updating controller.
    /// </summary>
    /// <remarks>
    /// Updates to robot-relative pose taking turret pan and tilt into account.
    /// </remarks>
    public static class KinectPoseUpdater
    {
        /// <summary>
        /// Apply turret pan and hood tilt to mounted Kinect pose.
        /// </summary>
        /// <param name="pose">Mounted Kinect pose relative to robot frame.</param>
        /// <param name="tilt">Hood tilt position.</param>
        /// <param name="pan">Turret pan position.</param>
        /// <returns>Updated Kinect pose.</returns>
        public static Pose UpdatePose(Pose pose, double tilt, double pan)
        {
            const double EV4KinectDistanceFromTurretCenter = 0.056;
            Vector3 turretToRobotCoordinateTransform = new Vector3(-EV4KinectDistanceFromTurretCenter + pose.Position.X, 0, pose.Position.Z);
            Vector3 kinectPositionWithTurrentOrigin = new Vector3(EV4KinectDistanceFromTurretCenter, 0, 0);
            Quaternion tiltPan = Quaternion.FromAxisAngle(0, 1, 0, tilt) * Quaternion.FromAxisAngle(0, 0, 1, pan);
            Vector3 rotatedKinectWithTurretOrigin = Quaternion.Rotate(tiltPan, kinectPositionWithTurrentOrigin);
            Vector3 rotatedKienctWithRobotWheelCenterOrigin = rotatedKinectWithTurretOrigin + turretToRobotCoordinateTransform;
            Pose updatedPose = new Pose(rotatedKienctWithRobotWheelCenterOrigin, tiltPan);
            return updatedPose;
        }
    }
}
